{"subtask_index": 0, "subtask": "Place the ice cream into the plate with the right gripper"}
{"subtask_index": 1, "subtask": "Place the cake onto the block toy with the right gripper"}
{"subtask_index": 2, "subtask": "Grasp the cake with the left gripper"}
{"subtask_index": 3, "subtask": "Place the cake on the yellow cube block with the left gripper"}
{"subtask_index": 4, "subtask": "Place the cake on the blue cube block with the right gripper"}
{"subtask_index": 5, "subtask": "Place the cake onto the block toy with the left gripper"}
{"subtask_index": 6, "subtask": "Grasp the cake with the right gripper"}
{"subtask_index": 7, "subtask": "Static"}
{"subtask_index": 8, "subtask": "Grasp the cake from the table and with the right gripper"}
{"subtask_index": 9, "subtask": "Grasp the cake from the table and with the left gripper"}
{"subtask_index": 10, "subtask": "End"}
{"subtask_index": 11, "subtask": "null"}